CN219828163U - Visual SLAM-based pipeline robot convenient to walk - Google Patents

Abstract

The utility model relates to the technical field of pipeline robots, in particular to a visual SLAM-based pipeline robot convenient to walk, which comprises a robot main body shell, wherein an adjusting device is arranged in the robot main body shell, a supporting block is fixedly connected to the right side of the robot main body shell, the inner wall of the supporting block is in sliding connection with a metal ball, one end of the metal ball is fixedly connected with a driving equipment main body, and driving wheels are arranged on the upper side and the lower side of the driving equipment main body. Through the cooperation between electric putter, frid, sector gear, straight-line gear and the U-shaped pole for electric putter's output upwards moves, and makes the frid drive sector gear through the spout and rotates, and sector gear drives the anticlockwise rotation of straight-line gear by a small margin, and the straight-line gear drives the U-shaped pole and rotates, and the U-shaped pole drives the camera and rotates, thereby realizes the regulation to the camera angle, has avoided being located the comparatively fuzzy of the pipeline inner wall at camera visual angle edge, makes the inner wall detection to the pipeline clearer.

Description

Visual SLAM-based pipeline robot convenient to walk

Technical Field

The utility model relates to the technical field of pipeline robots, in particular to a visual SLAM-based pipeline robot convenient to walk.

Background

SLAM refers to a body carrying a specific sensor, in case of unknown environment, a model of surrounding environment is built during movement, and movement of itself is estimated, wherein if the sensor is a camera (video camera), it is called visual SLAM, and pipe robot refers to a device for detecting an inner wall of a pipe.

For example, although the above-mentioned document can be conveniently bent integrally by the connector and the universal energy-saving device in the walking process, so that the user can walk around the robot in a turn when the length is too long, when the vision SLAM-based pipeline robot in the above-mentioned document is used, the environment inside the pipeline is recorded by installing the detector at the forefront end, and the view angle of the detector can only be clearly detected due to darker light inside the pipeline and limited visual range of the detector, and the inner wall of the pipeline at the edge of the view angle of the detector is relatively blurred due to the fact that the angle cannot be adjusted by the detector, so that the inner wall detection of the pipeline is not clear enough.

Disclosure of Invention

The utility model aims to solve the problems that the angle of a detector cannot be adjusted, so that the inner wall of a pipeline positioned at the visual angle edge of the detector is fuzzy, and the inner wall of the pipeline is not detected clearly, and provides the pipeline robot which is convenient to walk and is based on the visual SLAM.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a pipeline robot convenient to walk based on vision SLAM, includes robot main part shell, robot main part shell's inside is provided with adjusting device, robot main part shell's right side rigid coupling has the supporting shoe, the inner wall and the metal ball sliding connection of supporting shoe, the one end rigid coupling of metal ball has the driving device main part, the drive wheel is all installed to the upper and lower both sides of driving device main part.

Preferably, the adjusting device comprises an electric push rod, the bottom end of the electric push rod is fixedly connected with the main body shell of the robot, the output end of the electric push rod is in sliding connection with a groove plate through a sliding groove, the outer wall of the groove plate is fixedly connected with a sector gear, one end of the sector gear is rotationally connected with the main body shell of the robot through a rotating shaft, the outer wall of the sector gear is engaged with a spur gear, the front end of the spur gear is rotationally connected with the main body shell of the robot through the rotating shaft, and the rear end of the spur gear is fixedly connected with a U-shaped rod.

Preferably, the outer wall of the electric push rod is electrically connected with the driving equipment main body.

Preferably, the outer wall of the U-shaped rod is in sliding connection with the robot main body shell through a sliding groove, and one end of the U-shaped rod is provided with a camera.

Preferably, a plurality of guide wheels are mounted on the outer wall of the robot main body shell.

The visual SLAM-based pipeline robot convenient to walk has the beneficial effects that: through the cooperation between electric putter, frid, sector gear, straight-line gear and the U-shaped pole, start electric putter through the driving device main part for electric putter's output upwards moves, and makes the frid drive sector gear through the spout and rotate, and sector gear drives the anticlockwise rotation of straight-line gear by a small margin, and the straight-line gear drives the U-shaped pole and rotates, and the U-shaped pole drives the camera and rotates, thereby realizes the regulation to the camera angle, has avoided being located the comparatively fuzzy of the pipeline inner wall at camera visual angle edge, makes the inner wall detection to the pipeline clearer.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic front plan view of the interconnect structure of FIG. 1;

FIG. 3 is a schematic front plan view of the connection structure of the support block and the metal ball in FIG. 2;

fig. 4 is a schematic diagram of a connection structure at a in fig. 2.

In the figure: 1. robot main body shell, 2, supporting shoe, 3, metal ball, 4, adjusting device, 401, electric putter, 402, frid, 403, sector gear, 404, straight gear, 405, U-shaped pole, 4A1, fixed plate, 4A2, screw, 5, driving equipment main body, 6, drive wheel, 7, leading wheel, 8, camera.

Detailed Description

The utility model is further described below with reference to the accompanying drawings:

example 1:

referring to fig. 1-4, in this embodiment: the utility model provides a pipeline robot convenient to walk based on vision SLAM, including robot main body shell 1, the inside of robot main body shell 1 is provided with adjusting device 4, the right side rigid coupling of robot main body shell 1 has supporting shoe 2, the ball groove has been seted up to the inside of supporting shoe 2, the inner wall and the metal ball 3 sliding connection of supporting shoe 2, the metal ball 3 can be along the inside spout free rotation of supporting shoe 2, the one end rigid coupling of metal ball 3 has driving equipment main body 5, driving equipment main body 5 is inside to be equipped with the power, driving equipment and wireless control equipment, driving wheel 6 is all installed to driving equipment main body 5's upper and lower both sides, driving equipment in the driving equipment main body 5 can make driving wheel 6 rotate.

The adjusting device 4 comprises an electric push rod 401, a groove plate 402, a sector gear 403, a straight gear 404 and a U-shaped rod 405, wherein the bottom end of the electric push rod 401 is fixedly connected with the robot main body shell 1, the model of the electric push rod 401 is selected according to actual use requirements, the working requirements are met, the output end of the electric push rod 401 is in sliding connection with the groove plate 402 through a sliding groove, when the output end of the electric push rod 401 moves, the groove plate 402 drives the sector gear 403 to rotate through the sliding groove, the outer wall of the groove plate 402 is fixedly connected with the sector gear 403, one end of the sector gear 403 is in rotational connection with the robot main body shell 1 through a rotating shaft, the outer wall of the sector gear 403 is in meshed connection with the straight gear 404, the straight gear 404 is driven to rotate when the sector gear 403 rotates, the U-shaped rod 405 is fixedly connected with the rear end of the straight gear 404, and the straight gear 404 drives the U-shaped rod 405 to rotate;

the electric push rod 401 is started through the driving equipment main body 5, the output end of the electric push rod 401 moves upwards, the chute plate 402 drives the sector gear 403 to rotate through the chute, the sector gear 403 drives the spur gear 404 to rotate anticlockwise by a small amplitude, the spur gear 404 drives the U-shaped rod 405 to rotate, the U-shaped rod 405 drives the camera 8 to rotate, and therefore the angle of the camera 8 is adjusted, the inner wall of a pipeline located at the visual angle edge of the camera 8 is prevented from being fuzzy, and the inner wall detection of the pipeline is made clearer.

The outer wall of the electric putter 401 is connected with the driving device main body 5 electricity, and the extension and the shrink of the electric putter 401 are controlled through the driving device main body 5, and the outer wall of the U-shaped rod 405 passes through spout and robot main body shell 1 sliding connection, and the one end of U-shaped rod 405 is provided with camera 8,U shape pole 405 and drives the camera 8 and rotate to realize the regulation to camera 8 angle, a plurality of leading wheels 7 are installed to the outer wall of robot main body shell 1.

Working principle:

when the visual SLAM-based pipeline robot convenient to walk is used, firstly, a user places the device at the inlet of a pipeline, and adjusts the lengths of the driving wheel 6 and the guide wheel 7, so that the driving wheel 6 and the guide wheel 7 can be propped against the inner wall of the pipeline, at the moment, the driving device body 5 is used for controlling the driving wheel 6 to rotate, thereby pushing the device to enter the interior of the pipeline, and the condition of the inner wall of the pipeline is recorded through the camera 8, at the moment, the electric push rod 401 is started through the driving device body 5, so that the output end of the electric push rod 401 moves upwards, the trough plate 402 drives the sector gear 403 to rotate through the chute, the sector gear 403 drives the spur gear 404 to rotate anticlockwise by a small extent, the spur gear 404 drives the U-shaped rod 405 to rotate, and the U-shaped rod 405 drives the camera 8 to rotate, so that the angle of the camera 8 is adjusted, the inner wall of the pipeline at the visual angle edge of the camera 8 is prevented from being more fuzzy, the inner wall detection of the pipeline is clearer, and the use of the device is completed.

Example 2:

referring to fig. 1-4, in this embodiment: the vision SLAM-based pipeline robot convenient to walk, wherein the adjusting device 4 further comprises a fixed plate 4A1 and a screw 4A2, the outer wall of the fixed plate 4A1 is fixedly connected with the U-shaped rod 405, the camera 8 can be detached for replacement and maintenance by screwing the screw 4A2, and one side of the fixed plate 4A1 is fixedly connected with the camera 8 through the screw 4A 2;

the user can easily detach and replace the camera 8 by fixing the fixing plate 4A1 to one end of the U-shaped rod 405 and fixing the fixing plate 4A1 to the camera 8 by the screw 4 A2.

Working principle:

in operation of this embodiment, a user can conveniently detach and replace the camera 8 by fixing the fixing plate 4A1 to one end of the U-shaped rod 405 and fixing the fixing plate 4A1 to the camera 8 by the screw 4A2, thereby completing the use of the device.

While the utility model has been shown and described with reference to a preferred embodiment, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the scope of the utility model.

Claims (5)

1. The utility model provides a pipeline robot convenient to walk based on vision SLAM, includes robot main part shell (1), its characterized in that: the inside of robot main part shell (1) is provided with adjusting device (4), the right side rigid coupling of robot main part shell (1) has supporting shoe (2), the inner wall and the metal ball (3) sliding connection of supporting shoe (2), the one end rigid coupling of metal ball (3) has driving equipment main part (5), driving wheel (6) are all installed to the upper and lower both sides of driving equipment main part (5).

2. The vision SLAM-based walk-convenient pipe robot of claim 1, wherein: the adjusting device (4) comprises an electric push rod (401), the bottom end of the electric push rod (401) is fixedly connected with a robot main body shell (1), the output end of the electric push rod (401) is in sliding connection with a groove plate (402) through a sliding groove, the outer wall of the groove plate (402) is fixedly connected with a sector gear (403), one end of the sector gear (403) is in rotary connection with the robot main body shell (1) through a rotary shaft, the outer wall of the sector gear (403) is in meshed connection with a spur gear (404), the front end of the spur gear (404) is in rotary connection with the robot main body shell (1) through a rotary shaft, and the rear end of the spur gear (404) is fixedly connected with a U-shaped rod (405).

3. The vision SLAM-based walk-convenient pipe robot of claim 2, wherein: the outer wall of the electric push rod (401) is electrically connected with the driving equipment main body (5).

4. The vision SLAM-based walk-convenient pipe robot of claim 2, wherein: the outer wall of the U-shaped rod (405) is in sliding connection with the robot main body shell (1) through a sliding groove, and a camera (8) is arranged at one end of the U-shaped rod (405).

5. The vision SLAM-based walk-convenient pipe robot of claim 1, wherein: a plurality of guide wheels (7) are arranged on the outer wall of the robot main body shell (1).